scholarly journals Point Pair Feature Based Object Detection for Random Bin Picking

2016 ◽  
Author(s):  
Wim Abbeloos ◽  
Toon Goedeme
Keyword(s):  
Object Detection ◽  
Point Pair ◽  
Bin Picking ◽  
Feature Based

scholarly journals Point Pair Feature-Based Pose Estimation with Multiple Edge Appearance Models (PPF-MEAM) for Robotic Bin Picking

Sensors ◽  
2018 ◽  
Vol 18 (8) ◽  
pp. 2719 ◽  
Author(s):  
Diyi Liu ◽  
Shogo Arai ◽  
Jiaqi Miao ◽  
Jun Kinugawa ◽  
Zhao Wang ◽  
...  
Keyword(s):  
Pose Estimation ◽  
Point Cloud ◽  
Recognition Rate ◽  
Image Data ◽  
Multiple Edge ◽  
Point Pair ◽  
Online Computation ◽  
Bin Picking ◽  
Feature Based ◽  
Appearance Models

Automation of the bin picking task with robots entails the key step of pose estimation, which identifies and locates objects so that the robot can pick and manipulate the object in an accurate and reliable way. This paper proposes a novel point pair feature-based descriptor named Boundary-to-Boundary-using-Tangent-Line (B2B-TL) to estimate the pose of industrial parts including some parts whose point clouds lack key details, for example, the point cloud of the ridges of a part. The proposed descriptor utilizes the 3D point cloud data and 2D image data of the scene simultaneously, and the 2D image data could compensate the missing key details of the point cloud. Based on the descriptor B2B-TL, Multiple Edge Appearance Models (MEAM), a method using multiple models to describe the target object, is proposed to increase the recognition rate and reduce the computation time. A novel pipeline of an online computation process is presented to take advantage of B2B-TL and MEAM. Our algorithm is evaluated against synthetic and real scenes and implemented in a bin picking system. The experimental results show that our method is sufficiently accurate for a robot to grasp industrial parts and is fast enough to be used in a real factory environment.

scholarly journals Object Detection And Autoencoder-Based 6d Pose Estimation For Highly Cluttered Bin Picking

2021 ◽  
Author(s):  
Timon Hofer ◽  
Faranak Shamsafar ◽  
Nuri Benbarka ◽  
Andreas Zell
Keyword(s):  
Object Detection ◽  
Pose Estimation ◽  
Bin Picking

Object detection using feature-based template matching

2013 ◽  
Author(s):  
Simone Bianco ◽  
Marco Buzzelli ◽  
Raimondo Schettini
Keyword(s):  
Object Detection ◽  
Template Matching ◽  
Feature Based
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